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The International Journal of Robotics Research
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Control for Actuator Arrays

Mark Bedillion

Seagate Technology 1251 Waterfront Place Pittsburgh, PA 15222, USA, mbedillion{at}gmail.com

William Messner

Department of Mechanical Engineering Carnegie Mellon University 5000 Forbes Avenue Pittsburgh, PA 15213, USA, bmessner{at}andrew.cmu.edu

Actuator arrays are planar arrangements of simple actuators that cooperate to translate and orient objects. This paper derives the equations of motion for manipulating an object in stick/slip contact with the actuators. A controller derived from kinematics considerations is presented and its stability analyzed with the multivariable circle criterion. Stability results are verified through simulation and experimental results on a 20 unit macroscopic actuator array.

Key Words: distributed manipulation • actuator arrays • distributed control • hybrid systems

The International Journal of Robotics Research, Vol. 28, No. 7, 868-882 (2009)
DOI: 10.1177/0278364909100733
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